CN114148492A - Deep sea lander - Google Patents
Deep sea lander Download PDFInfo
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- CN114148492A CN114148492A CN202111373846.6A CN202111373846A CN114148492A CN 114148492 A CN114148492 A CN 114148492A CN 202111373846 A CN202111373846 A CN 202111373846A CN 114148492 A CN114148492 A CN 114148492A
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- lander
- main body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a deep sea lander, comprising: the lander body can sink to the seabed without power under the action of self gravity and can realize self load rejection and floating; the detection system is arranged on the lander main body and used for carrying out seabed detection operation; the acoustic guidance system can establish acoustic signal communication with an acoustic module of an external deep sea device to determine the relative position between the lander main body and the external deep sea device, and can convert acoustic signals received by the acoustic guidance system and sent by the acoustic module of the external deep sea device into electric signals and transmit the electric signals to the control system; the control system is used for sending a control instruction to the propulsion system when receiving an electric signal fed back by the acoustic guidance system so as to control the propulsion system to drive the lander main body to move towards a specified position.
Description
Technical Field
The invention relates to the technical field of ocean engineering and underwater equipment, in particular to a deep sea lander.
Background
The deep sea lander is a deep sea device which does not sink to the sea bottom under the action of gravity and carries out fixed-point detection operation, has the characteristics of low cost, convenience in use, flexible functions and the like, and is widely applied to the field of deep sea scientific investigation. However, the existing deep sea lander can only work at fixed points, the detection range is limited, and in addition, under the support of a mother ship without water surface, the relative position of the deep sea lander on the sea bottom of ten thousand meters is difficult to determine by other deep sea equipment such as a submersible and the like, and the deep sea lander is effectively communicated with the deep sea lander, so that the deep sea lander seriously lacks the capability of carrying out cooperative work with the deep sea equipment such as the submersible and the like, and the actual requirement of the current deep sea scientific research is difficult to meet.
Disclosure of Invention
Accordingly, the present invention provides a deep sea landing gear capable of performing cooperative work with an external deep sea device.
A deep sea lander comprising:
the lander main body can sink to the seabed without power under the action of self gravity and can realize self load rejection and floating;
the detection system is arranged on the lander main body and is used for carrying out seabed detection operation;
the control system is arranged on the lander main body;
the acoustic guiding system is arranged on the lander main body and is in communication connection with the control system, the acoustic guiding system can establish acoustic signal communication with an acoustic module of an external deep sea device so as to determine the relative position between the lander main body and the external deep sea device, and the acoustic guiding system can convert an acoustic signal received by the acoustic guiding system and sent by the external deep sea device into an electric signal and then transmit the electric signal to the control system; and
and the control system is used for sending a control instruction to the propulsion system when receiving the electric signal fed back by the acoustic guidance system so as to control the propulsion system to drive the lander main body to move towards a specified position.
In one embodiment, the acoustic guidance system includes:
the full-directional energy converter is arranged on the lander main body; and
the acoustic guidance electronic cabin is arranged between the fully directional transducer and the control system, the fully directional transducer is used for establishing acoustic signal communication with an external acoustic module of the deep sea device and converting an acoustic signal received by the fully directional transducer into an electric signal and then transmitting the electric signal to the acoustic guidance electronic cabin, and the acoustic guidance electronic cabin is used for carrying out data processing on the electric signal fed back by the fully directional transducer so as to determine the relative position between the lander main body and the external deep sea device and transmit the obtained position information to the control system.
In one embodiment, the landing gear body comprises:
the detection system, the control system, the acoustic guidance system and the propulsion system are all arranged on the main body frame; and
the load rejection system is arranged on the main body frame, the main body frame can sink to the seabed without power under the action of gravity of the load rejection system, and the load rejection system can carry out load rejection to realize the floating of the main body frame.
In one embodiment, a certain distance is arranged between the floating center of the main body frame and the gravity center of the main body frame, and the floating center of the main body frame is positioned above the gravity center of the main body frame.
In one embodiment, the main body frame comprises a machine frame and a buoyancy member, wherein the buoyancy member is arranged on the outer side wall of the machine frame and is used for providing floating buoyancy for the main body frame.
In one embodiment, the control system can control the load rejection system to perform timed load rejection, and the control system can also control the load rejection system to perform load rejection when receiving an electric signal fed back by the acoustic guidance system.
In one embodiment, the load rejection system comprises:
a first load rejection actuator;
the first load rejection executing mechanism and the second load rejection executing mechanism are arranged on the main body frame at intervals;
a first guide wheel;
the first guide wheel and the second guide wheel are arranged on the main body frame at intervals;
the first end of the first connecting rope is hung on the hook end of the first load rejection executing mechanism, the second end of the first connecting rope is hung on the hook end of the second load rejection executing mechanism after sequentially passing through the first guide wheel and the second guide wheel, and the first load rejection executing mechanism can lock or release the first end of the first connecting rope and/or the second load rejection executing mechanism can lock or release the second end of the first connecting rope, so that the first connecting rope is switched between a tensioning state and a loosening state;
a load rejection hook;
one end of the second connecting rope is connected with the middle part of the first connecting rope, and the other end of the second connecting rope is connected with the load throwing hook; and
the load-bearing part is hung on the load-throwing hook, and when the first connecting rope is in the slack state, the load-throwing hook can rotate around the axial direction of the load-bearing part under the action of gravity to release the load-bearing part, so that the load throwing of the load-throwing system is realized.
In one embodiment, the propulsion system comprises:
the first thruster is arranged on the lander main body and used for driving the lander main body to move towards a first direction; and
the second thruster is arranged on the lander main body and used for driving the lander main body to move towards a second direction perpendicular to the first direction, so that the lander main body is driven to move towards a specified position.
In one embodiment, the detection system comprises:
the landing device comprises a lander main body, a camera assembly and a control module, wherein the camera assembly is arranged on the lander main body and is used for shooting video data of submarine topography and marine organisms; and
and the lighting assembly is arranged on the lander main body and used for providing lighting for the shooting operation of the camera shooting assembly.
In one embodiment, the deep sea lander further comprises at least one of:
the detection component is arranged on the lander main body and is used for detecting the state parameters of the lander main body; and
and the power supply system is arranged on the lander body and is used for providing required electric energy for each power utilization mechanism of the deep sea lander.
The deep sea lander has an independent working mode and a cooperative working mode, when the deep sea lander needs to execute the independent working mode, the lander body can sink to the seabed without power under the action of self gravity, and thus the deep sea lander can carry out fixed-point seabed detection operation through a detection system arranged on the lander body;
when the deep sea lander needs to execute a cooperative working mode (namely when the deep sea lander needs to move to change a working site and perform cooperative work with an external deep sea device), the acoustic guide system can establish acoustic signal communication with an acoustic module of the external deep sea device to determine the relative position between the lander main body and the external deep sea device, after the acoustic guide system receives an acoustic signal sent by the acoustic module of the external deep sea device, the acoustic guide system can convert the acoustic signal sent by the acoustic module of the external deep sea device received by the acoustic guide system into an electric signal and then transmit the electric signal to the control system, and at the moment, the control system sends a control instruction to the propulsion system when receiving the electric signal fed back by the acoustic guide system, so that the propulsion system is controlled to drive the lander main body to move towards a specified position, and the deep sea lander can meet scientific investigation requirements of performing detection work at a plurality of different sites on the sea bottom in cooperation with the external deep sea device;
the operation based on acoustic guidance adopted by the application is a cableless efficient and safe cooperative operation mode, the universality is good, the detection operation range of the traditional optical fiber or photoelectric composite cable operation mode is free from the risks of cable length limitation and cable accidental winding, the acoustic signal communication can be established with an external deep sea device in an omnidirectional and remote mode, the rapid guidance, high-precision navigation positioning and high-speed transmission of control instructions of the deep sea lander can be realized, and the deep sea lander can carry out cooperative operation with the external deep sea device.
Drawings
FIG. 1 is a schematic structural view of a deep sea landing gear in one embodiment;
FIG. 2 is a schematic structural diagram of the deep sea landing gear shown in FIG. 1 from another perspective;
FIG. 3 is a schematic structural diagram of the deep sea landing gear shown in FIG. 1 from another perspective;
figure 4 is a cross-sectional view of the deep sea landing gear shown in figure 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1, the present application provides a deep sea lander 100, the deep sea lander 100 includes a lander body 110, a detection system 120, a control system 130, an acoustic guidance system 140 and a propulsion system 150, the lander body 110 can sink to the sea bottom without power under its own weight, and can realize its own ballast and ascent; the detection system 120 is arranged on the lander body 110, and the detection system 120 is used for performing seabed detection operation; the control system 130 is disposed on the landing gear body 110.
The acoustic guidance system 140 is disposed on the landing gear body 110 and is in communication connection with the control system 130, the acoustic guidance system 140 can establish acoustic signal communication with an acoustic module of an external deep sea device to determine a relative position between the landing gear body 110 and the external deep sea device, and the acoustic guidance system 140 can convert an acoustic signal received by itself and emitted by the acoustic module of the external deep sea device into an electric signal and transmit the electric signal to the control system 130.
The propulsion system 150 is disposed on the landing gear body 110 and is in communication connection with the control system 130, and the control system 130 is configured to send a control instruction to the propulsion system 150 when receiving an electrical signal fed back by the acoustic guidance system 140, so as to control the propulsion system 150 to drive the landing gear body 110 to move toward a specified position.
The deep sea lander 100 provided by the application has an independent working mode and a cooperative working mode, when the deep sea lander 100 needs to execute the independent working mode, the lander body 110 can sink to the seabed without power under the action of self gravity, so that the deep sea lander 100 can carry out fixed-point seabed detection operation through the detection system 120 arranged on the lander body 110;
when the deep sea lander 100 needs to execute a cooperative working mode (i.e. when the deep sea lander 100 needs to move to change a working site to perform cooperative work with an external deep sea device), the acoustic guidance system 140 can establish acoustic signal communication with an acoustic module of the external deep sea device to determine a relative position between the lander body 110 and the external deep sea device, after the acoustic guidance system 140 receives an acoustic signal sent by the acoustic module of the external deep sea device, the acoustic guidance system 140 can convert the acoustic signal received by the acoustic guidance system into an electric signal and transmit the electric signal to the control system 130, and at this time, the control system 130 sends a control instruction to the propulsion system 150 when receiving the electric signal fed back by the acoustic guidance system 140, so that the propulsion system 150 is controlled to drive the lander body 110 to move to a designated landing position, so that the deep sea lander 100 can execute cooperative work with the external deep sea device at a plurality of different positions on the sea floor Carrying out scientific investigation requirements of detection operation;
the operation based on acoustic guidance adopted by the application is a cableless efficient and safe cooperative operation mode, the universality is good, the detection operation range of the traditional optical fiber or photoelectric composite cable operation mode is free from the risks of cable length limitation and cable accidental winding, the acoustic signal communication can be established with an external deep sea device in an omnidirectional and remote mode, the rapid guidance, high-precision navigation positioning and high-speed transmission of control instructions of the deep sea lander 100 can be realized, and the deep sea lander 100 can carry out cooperative operation with the external deep sea device.
As shown in fig. 2 and 3, the acoustic guidance system 140 includes a full directional transducer 142 and an acoustic guidance electronic cabin 144, the full directional transducer 142 is disposed on the landing gear body 110, the acoustic guidance electronic cabin 144 is disposed between the full directional transducer 142 and the control system 130, the full directional transducer 142 is used for establishing acoustic signal communication with an acoustic module of an external deep sea device, and is capable of converting an acoustic signal received by itself into an electrical signal and transmitting the electrical signal to the acoustic guidance electronic cabin 144, and the acoustic guidance electronic cabin 144 is used for performing data processing on the electrical signal fed back by the full directional transducer 142 to determine a relative position between the landing gear body 110 and the external deep sea device and transmitting the obtained position information to the control system 130.
Specifically, the fully directional transducer 142 has a bidirectional function of transmitting and receiving sound signals, and the fully directional transducer 142 is disposed on the top of the landing gear body 110, so that the fully directional transducer 142 can transmit and receive sound signals at a full angle without obstruction.
As shown in fig. 3, the landing gear body 110 includes a body frame 160 and a load rejection system 170, and the detection system 120, the control system 130, the acoustic guidance system 140 and the propulsion system 150 are disposed on the body frame 160; the load rejection system 170 is disposed on the main body frame 160, the main body frame 160 can sink to the sea bottom without power under the gravity of the load rejection system 170, and the load rejection system 170 can reject to realize the floating of the main body frame 160.
In an embodiment, the main body frame 160 is vertically high and flat, a certain distance is provided between the floating center of the main body frame 160 and the center of gravity of the main body frame 160, and the floating center of the main body frame 160 is located above the center of gravity of the main body frame 160, so as to effectively inhibit additional pitching motion and additional rolling motion during the navigation process of the landing main body 110, and ensure that the motion of the landing main body 110 always meets the high stability requirement of the detection operation.
As shown in fig. 3, further, the body frame 160 includes a machine frame 162 and a buoyancy member 164, the buoyancy member 164 is disposed on an outer sidewall of the machine frame 162, and the buoyancy member 164 is used to provide floating buoyancy to the body frame 160.
The control system 130 is arranged inside the machine frame 162, the propulsion system 150 is arranged on the outer side wall of the machine frame 162, and the space utilization rate of the main body frame 160 can be effectively improved through the arrangement mode of the installation layout of the structural members, so that the deep sea lander 100 is more compact in overall structure and smaller in size.
The control system 130 can control the load rejection system 170 to perform timed load rejection, and specifically, the control system 130 has a timer capable of setting a load rejection time, where the load rejection time may be a set maximum duration of the subsea operation of the deep sea lander 100, and after the time of the subsea operation of the deep sea lander 100 reaches the load rejection time set by the timer of the control system 130, the control system 130 outputs a control instruction to the load rejection system 170 to control the load rejection system 170 to perform a load rejection action, so as to achieve load rejection and floating of the lander body 110.
Further, the control system 130 can control the offloading system 170 to perform offloading when receiving the electrical signal fed back by the acoustic guidance system 140, specifically, after the acoustic guidance system 140 receives the acoustic signal sent by the acoustic module of the external deep sea device, the acoustic guidance system 140 can convert the acoustic signal sent by the acoustic module of the external deep sea device received by itself into the electrical signal and transmit the electrical signal to the control system 130, and at this time, the control system 130 sends a control instruction to the offloading system 170 when receiving the electrical signal fed back by the acoustic guidance system 140, so as to control the offloading system 170 to perform offloading action, thereby achieving offloading and floating of the landing device body 110.
As shown in fig. 4, the load rejection system 170 includes a first load rejection actuator 171, a second load rejection actuator 172, a first guide wheel 173, a second guide wheel 174, a first connection rope 175, a load rejection hook 176, a second connection rope 177, and a load pressing member 178, wherein the first load rejection actuator 171 and the second load rejection actuator 172 are disposed on the main body frame 160 at intervals; the first guide wheel 173 and the second guide wheel 174 are disposed on the main body frame 160 at intervals; the first connecting rope 175 may be a throwing-load dyneema rope, a first end of the first connecting rope 175 is hung on a hook end of the first throwing-load executing mechanism 171, a second end of the first connecting rope 175 is hung on a hook end of the second throwing-load executing mechanism 172 after sequentially passing through the first guide wheel 173 and the second guide wheel 174, and the first throwing-load executing mechanism 171 can lock or release the first end of the first connecting rope 175 and/or the second throwing-load executing mechanism 172 can lock or release the second end of the first connecting rope 175, so that the first connecting rope 175 is switched between a tensioned state and a relaxed state.
One end of the second connecting rope 177 is connected with the middle part of the first connecting rope 175, and the other end of the second connecting rope 177 is connected with the load throwing hook 176; the ballast 178 may be ballast iron, the ballast 178 is hung on the load rejection hook 176, and when the first connection rope 175 is in a loose state, the load rejection hook 176 can rotate around its own axial direction under the action of its own gravity to release the load rejection hook 178, thereby achieving the load rejection of the load rejection system 170.
Specifically, in the present embodiment, the first load rejection actuator 171 can lock or release the first end of the first connecting rope 175 to switch the first connecting rope 175 between the tensioned state and the relaxed state, and the second load rejection actuator 172 can lock or release the second end of the first connecting rope 175 to switch the first connecting rope 175 between the tensioned state and the relaxed state, the first load rejection actuator 171, the second load rejection actuator 172, the first guide wheel 173, the second guide wheel 174, and the first connecting rope 175 form a serial arrangement, the first load rejection actuator 171 and the second load rejection actuator 172 are independent of each other, when any one of the first load rejection actuator 171 and the second load rejection actuator 172 releases the first connecting rope 175, the first connecting rope 175 can be switched to the relaxed state, so that the load rejection hook 176 rotates around its own axial direction under its own gravity to release the load rejection member 178, the load rejection of the load rejection system 170 is achieved.
Specifically, the control system 130 can control the first load rejection actuator 171 to perform timed release of the first end of the first connecting rope 175, and the control system 130 can also control the first load rejection actuator 171 to perform release of the first end of the first connecting rope 175 upon receiving an electrical signal fed back by the acoustic guidance system 140.
Further, the control system 130 can control the second load rejection actuator 172 to release the second end of the first connecting rope 175 at a fixed time, and the control system 130 can also control the second load rejection actuator 172 to release the second end of the first connecting rope 175 when receiving an electrical signal fed back by the acoustic guidance system 140.
As shown in fig. 4, the payload system 170 further includes a first payload bay 179 and a second payload bay 180, the first payload bay 179 is configured to drive the first payload actuator 171 to lock or release the first end of the first connecting line 175 to switch the first connecting line 175 between the tensioned state and the relaxed state, and the second payload bay 180 is configured to drive the second payload actuator 172 to lock or release the second end of the first connecting line 175 to switch the first connecting line 175 between the tensioned state and the relaxed state.
Further, as shown in fig. 2, in the present embodiment, the propulsion system 150 includes two sets, and the two sets of propulsion systems 150 are respectively disposed on the left and right sides of the frame 162.
As shown in fig. 3, the propulsion system 150 includes a first propeller 152 and a second propeller 154, the first propeller 152 is disposed on the landing gear body 110, and the first propeller 152 is used for driving the landing gear body 110 to move toward a first direction; the second thruster 154 is disposed on the landing gear body 110, and the second thruster 154 is used to drive the landing gear body 110 to move in a second direction perpendicular to the first direction, so as to drive the landing gear body 110 to move in a designated position, thereby realizing the operation of moving the landing gear body 110 to change the operation site and performing the height-fixed suspension operation.
In this embodiment, the first direction is defined as an X direction, the second direction is defined as a Y direction, the first thruster 152 is used for driving the landing gear main body 110 to move towards the X direction, and the second thruster 154 is used for driving the landing gear main body 110 to move towards the Y direction.
The detection system 120 can carry corresponding equipment according to actual requirements of submarine scientific research work, as shown in fig. 2, in an embodiment, the detection system 120 includes a camera assembly 122 and an illumination assembly 124, the camera assembly 122 is disposed on the lander body 110, and the camera assembly 122 is used for shooting video data of submarine topography and marine life; an illumination assembly 124 is disposed on the lander body 110, and the illumination assembly 124 is used for providing illumination for the shooting operation of the camera assembly 122. Specifically, camera assembly 122 is disposed on top of buoyancy member 164, lighting assembly 124 may be an LED lamp, and lighting assembly 124 is disposed on the left and right sides of frame 162.
The detection system 120 is communicatively coupled to a control system 130, and the control system 130 is capable of storing data collected by the detection system 120 during subsea detection operations. In the present embodiment, the camera assembly 122 is communicatively connected to the control system 130, and the control system 130 can store the video data of the submarine topography and marine life captured by the camera assembly 122.
As shown in fig. 2, the deep sea landing gear 100 further includes a detection assembly 182, the detection assembly 182 is disposed on the landing gear body 110, and the detection assembly 182 is used for detecting the state parameter of the landing gear body 110. Further, the control system 130 is communicatively connected to the detection component 182, and the control system 130 can control the propulsion component to drive the landing device body 110 to move according to the state parameter of the landing device body 110 fed back by the detection component 182, so as to ensure the motion stability of the landing device body 110.
As shown in fig. 2 and 3, the detecting assembly 182 includes a first detecting member 184, the first detecting member 184 may be a depth meter, the first detecting member 184 is disposed on the landing gear body 110, and the first detecting member 184 is used for detecting the depth of the landing gear body 110. The detecting assembly 182 further includes a second detecting member 186, the second detecting member 186 may be an electronic compass, the second detecting member 186 is disposed on the landing gear body 110, and the second detecting member 186 is used for detecting the attitude and the navigation data of the landing gear body 110. The detection assembly 182 further includes a third detection member 188, the third detection member 188 may be an altimeter, the third detection member 188 is disposed on the landing gear body 110, and the third detection member 188 is used for detecting the height of the landing gear body 110 from the sea bottom.
As shown in fig. 1, the deep sea landing gear 100 further includes a power supply system 190, the power supply system 190 is disposed on the landing gear body 110, specifically, the power supply system 190 is disposed in the machine frame 162, and the power supply system 190 is used for supplying required electric energy to each electric mechanism of the deep sea landing gear 100.
The power supply system 190 includes a battery for providing power, the battery may be a solid-state lithium battery with high energy density, the battery is electrically connected to the control system 130 through a watertight cable, and then the control system 130 provides a stable dc power supply for other power consuming mechanisms of the deep sea landing gear 100, and provides overcurrent and overvoltage protection and hardware slow start, so as to ensure the power supply safety of the power consuming mechanisms of the whole deep sea landing gear 100.
It should be noted that the first load rejection actuator 171, the second load rejection actuator 172, the control system 130, and the power supply system 190 all include an oil-filled sealed wet chamber, the oil-filled sealed wet chamber of the control system 130 may be an aluminum alloy chamber, the oil-filled sealed wet chamber of the power supply system 190 may be a polyoxymethylene chamber, and pressure compensation oil is injected into the oil-filled sealed wet chamber corresponding to each mechanism, so that each mechanism maintains a pressure environment adapted to the deep sea high pressure environment.
As shown in fig. 3, the deep sea landing gear 100 further includes a pressure compensator 192, the pressure compensator 192 is disposed in the machine frame 162, the pressure compensator 192 is connected to the oil-filled sealed wet cabin of the first load rejection actuator 171, the second load rejection actuator 172, the control system 130 and the power supply system 190 through oil pipes, and the pressure compensator 192 is configured to inject pressure compensation oil into the oil-filled sealed wet cabin of the first load rejection actuator 171, the second load rejection actuator 172, the control system 130 and the power supply system 190 through oil pipes.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A deep sea lander, comprising:
the lander main body can sink to the seabed without power under the action of self gravity and can realize self load rejection and floating;
the detection system is arranged on the lander main body and is used for carrying out seabed detection operation;
the control system is arranged on the lander main body;
the acoustic guiding system is arranged on the lander main body and is in communication connection with the control system, the acoustic guiding system can establish acoustic signal communication with an acoustic module of an external deep sea device so as to determine the relative position between the lander main body and the external deep sea device, and the acoustic guiding system can convert an acoustic signal received by the acoustic guiding system and sent by the external deep sea device into an electric signal and then transmit the electric signal to the control system; and
and the control system is used for sending a control instruction to the propulsion system when receiving the electric signal fed back by the acoustic guidance system so as to control the propulsion system to drive the lander main body to move towards a specified position.
2. The deep sea lander of claim 1, wherein the acoustic guidance system comprises:
the full-directional energy converter is arranged on the lander main body; and
the acoustic guidance electronic cabin is arranged between the fully directional transducer and the control system, the fully directional transducer is used for establishing acoustic signal communication with an external acoustic module of the deep sea device and converting an acoustic signal received by the fully directional transducer into an electric signal and then transmitting the electric signal to the acoustic guidance electronic cabin, and the acoustic guidance electronic cabin is used for carrying out data processing on the electric signal fed back by the fully directional transducer so as to determine the relative position between the lander main body and the external deep sea device and transmit the obtained position information to the control system.
3. The deep sea lander of claim 1, wherein said lander body comprises:
the detection system, the control system, the acoustic guidance system and the propulsion system are all arranged on the main body frame; and
the load rejection system is arranged on the main body frame, the main body frame can sink to the seabed without power under the action of gravity of the load rejection system, and the load rejection system can carry out load rejection to realize the floating of the main body frame.
4. The deep sea landing gear of claim 3, wherein the floating center of the main body frame is spaced from the center of gravity of the main body frame, and the floating center of the main body frame is located above the center of gravity of the main body frame.
5. The deep sea lander of claim 3, wherein the body frame includes a frame and a buoyancy member disposed on an outer sidewall of the frame, the buoyancy member for providing the body frame with buoyant buoyancy.
6. The deep sea lander according to claim 3, wherein said control system is capable of controlling said load rejection system to perform timed load rejection, said control system further being capable of controlling said load rejection system to perform load rejection upon receiving an electrical signal fed back from said acoustic guidance system.
7. The deep sea lander of claim 3, wherein said offloading system comprises:
a first load rejection actuator;
the first load rejection executing mechanism and the second load rejection executing mechanism are arranged on the main body frame at intervals;
a first guide wheel;
the first guide wheel and the second guide wheel are arranged on the main body frame at intervals;
the first end of the first connecting rope is hung on the hook end of the first load rejection executing mechanism, the second end of the first connecting rope is hung on the hook end of the second load rejection executing mechanism after sequentially passing through the first guide wheel and the second guide wheel, and the first load rejection executing mechanism can lock or release the first end of the first connecting rope and/or the second load rejection executing mechanism can lock or release the second end of the first connecting rope, so that the first connecting rope is switched between a tensioning state and a loosening state;
a load rejection hook;
one end of the second connecting rope is connected with the middle part of the first connecting rope, and the other end of the second connecting rope is connected with the load throwing hook; and
the load-bearing part is hung on the load-throwing hook, and when the first connecting rope is in the slack state, the load-throwing hook can rotate around the axial direction of the load-bearing part under the action of gravity to release the load-bearing part, so that the load throwing of the load-throwing system is realized.
8. The deep sea lander of claim 1, wherein said propulsion system comprises:
the first thruster is arranged on the lander main body and used for driving the lander main body to move towards a first direction; and
the second thruster is arranged on the lander main body and used for driving the lander main body to move towards a second direction perpendicular to the first direction, so that the lander main body is driven to move towards a specified position.
9. The deep sea lander of claim 1, wherein said probe system comprises:
the landing device comprises a lander main body, a camera assembly and a control module, wherein the camera assembly is arranged on the lander main body and is used for shooting video data of submarine topography and marine organisms; and
and the lighting assembly is arranged on the lander main body and used for providing lighting for the shooting operation of the camera shooting assembly.
10. The deep sea lander of claim 1 further comprising at least one of:
the detection component is arranged on the lander main body and is used for detecting the state parameters of the lander main body; and
and the power supply system is arranged on the lander body and is used for providing required electric energy for each power utilization mechanism of the deep sea lander.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111373846.6A CN114148492A (en) | 2021-11-19 | 2021-11-19 | Deep sea lander |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111373846.6A CN114148492A (en) | 2021-11-19 | 2021-11-19 | Deep sea lander |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802666A (en) * | 2022-06-24 | 2022-07-29 | 自然资源部第一海洋研究所 | Seabed observation station with seabed autonomous movement and ocean detection functions |
| CN117284458A (en) * | 2023-11-22 | 2023-12-26 | 华海通信技术有限公司 | Seabed separation recyclable buoyancy device and seabed observation system |
-
2021
- 2021-11-19 CN CN202111373846.6A patent/CN114148492A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802666A (en) * | 2022-06-24 | 2022-07-29 | 自然资源部第一海洋研究所 | Seabed observation station with seabed autonomous movement and ocean detection functions |
| CN117284458A (en) * | 2023-11-22 | 2023-12-26 | 华海通信技术有限公司 | Seabed separation recyclable buoyancy device and seabed observation system |
| CN117284458B (en) * | 2023-11-22 | 2024-02-02 | 华海通信技术有限公司 | Seabed separation recyclable buoyancy device and seabed observation system |
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